version: 66.13
glider: 202
mission: 2
dive: 5
start: 3 17 117 16 21 52
data:
$ID,202
$MISSION,2
$DIVE,5
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51899
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3892
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,25
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,303
$ROLL_MAX,3831
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-61.796719
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004404821
$SEABIRD_T_H,0.00064488029
$SEABIRD_T_I,2.8507879e-05
$SEABIRD_T_J,3.3644449e-06
$SEABIRD_C_G,-9.8029137
$SEABIRD_C_H,1.1050078
$SEABIRD_C_I,-0.0015785076
$SEABIRD_C_J,0.00020331096
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,0.0
$GPS1,170317,161811,2908.3220,-7610.8618,11,1.1,11,-8.9,0.0,0.0,8,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.3
$GPS2,170317,162134,2908.3335,-7610.7817,10,1.1,15,-9.0,0.7,48.0,8,4.4
$SPEED_LIMITS,0.208,0.314
$TGT_NAME,HEADING
$TGT_LATLONG,2908.333,-7623.146
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,267.9,20000,-17.7,-12.000,-20.92,2475
$D_GRID,4994
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.77,-194.6,188,2500,1006,1180,0.0,0.0,0,91,0.00,0.00,-76.18,0.000,16386,0.000,0.000,187,2500,3370,3427,3314,0,0,0,0,0,0,26.96,28.83,26.98
$GC,93,-0.77,-194.6,188,2500,3428,3316,3.3,-6.8,13,119,9.75,2.15,-6.85,0.000,18724,0.227,1.258,2756,3808,3737,3827,3647,0,0,0,0,0,0,26.41,25.57,26.65
$GC,343,-0.77,-194.6,2757,3809,3827,3648,41.2,-13.1,62,351,0.00,1.90,0.00,0.000,1030,0.000,0.026,2754,2490,3735,3828,3643,0,0,0,0,0,0,26.77,26.75,26.78
$GC,529,-0.77,-194.6,2757,2490,3828,3647,65.9,-13.4,87,536,0.00,2.05,0.00,0.000,260,0.000,0.046,2746,3811,3737,3827,3647,0,0,0,0,0,0,27.06,26.74,27.07
$GC,590,-0.77,-194.6,2746,3812,3830,3648,74.8,-14.8,99,597,0.00,1.90,0.00,0.000,1030,0.000,0.027,2747,2502,3737,3828,3647,0,0,0,0,0,0,26.86,26.84,26.88
$GC,901,-0.77,-194.6,2746,2501,3829,3648,120.0,-15.2,131,908,0.00,2.00,0.00,0.000,260,0.000,0.046,2737,3826,3737,3828,3647,0,0,0,0,0,0,27.16,26.84,27.15
$GC,936,-0.77,-194.6,2737,3827,3827,3648,125.3,-15.6,138,945,0.10,1.92,0.00,0.000,3078,0.125,0.026,2772,2483,3737,3827,3647,0,0,0,0,0,0,26.77,26.93,26.85
$GC,1241,-0.77,-194.6,2772,2483,3828,3647,163.4,-11.9,169,1244,0.00,0.00,0.00,0.000,38,0.000,0.000,2772,2482,3737,3828,3646,0,0,0,0,0,0,27.18,27.20,27.20
$GC,1542,-0.77,-194.6,2771,2483,3829,3648,199.6,-11.7,199,1548,0.00,2.03,0.00,0.000,292,0.000,0.046,2764,3823,3737,3828,3647,0,0,0,0,0,0,27.24,26.91,27.24
$GC,1572,-0.77,-194.6,2764,3824,3829,3648,203.2,-12.0,205,1580,0.00,1.85,0.00,0.000,1062,0.000,0.027,2764,2502,3737,3828,3647,0,0,0,0,0,0,27.04,27.00,27.05
$GC,1904,-0.77,-194.6,2763,2503,3829,3648,243.4,-11.8,221,1911,0.00,2.03,0.00,0.000,292,0.000,0.047,2755,3818,3737,3828,3647,0,0,0,0,0,0,27.26,26.94,27.27
$GC,1955,-0.77,-194.6,2756,3818,3827,3648,250.1,-13.4,231,1962,0.00,1.90,0.00,0.000,1030,0.000,0.027,2755,2496,3737,3827,3647,0,0,0,0,0,0,27.05,27.03,27.06
$GC,2266,-0.77,-194.6,2755,2497,3828,3647,288.2,-12.2,243,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2496,3736,3826,3647,0,0,0,0,0,0,27.28,27.28,27.28
$GC,2566,-0.77,-194.6,2756,2497,3827,3647,325.1,-12.4,253,2574,0.00,2.03,0.00,0.000,260,0.000,0.047,2747,3811,3737,3828,3647,0,0,0,0,0,0,27.29,26.96,27.29
$GC,2597,-0.77,-194.6,2745,3812,3829,3648,329.2,-14.0,259,2604,0.00,1.90,0.00,0.000,1030,0.000,0.027,2746,2486,3737,3827,3647,0,0,0,0,0,0,27.06,27.05,27.08
$STATE,2867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2867,begin apogee
$GC,2869,-0.20,0.0,2746,2483,3829,3647,362.8,-12.3,273,3022,0.57,0.00,145.20,1.128,10246,0.107,0.000,2952,2484,2943,2978,2909,0,0,0,0,0,0,26.89,25.22,24.49
$STATE,3024,end apogee,CONTROL_FINISHED_OK
$STATE,3024,begin climb
$GC,3025,0.77,194.6,2952,2485,2980,2910,367.8,0.0,278,3190,0.90,0.00,148.93,1.128,10758,0.068,0.000,3280,2484,2147,2154,2141,0,0,0,0,0,0,25.54,25.22,24.44
$GC,3509,0.77,209.9,3280,2484,2152,2141,323.3,11.4,324,3531,0.00,2.15,12.50,1.018,8484,0.000,0.045,3280,3822,2085,2091,2080,0,0,0,0,0,0,26.79,26.19,25.41
$GC,3704,0.77,209.9,3281,3823,2091,2081,298.5,13.4,363,3711,0.00,1.88,0.00,0.000,1030,0.000,0.026,3284,2504,2085,2091,2080,0,0,0,0,0,0,26.63,26.59,26.64
$GC,4020,0.77,213.4,3285,2503,2089,2081,261.8,11.9,376,4033,0.00,2.05,4.40,0.847,8484,0.000,0.046,3289,3812,2069,2071,2068,0,0,0,0,0,0,27.02,26.58,25.82
$GC,4256,0.77,213.4,3283,3813,2072,2069,229.1,13.5,423,4265,0.00,1.88,0.00,0.000,1030,0.000,0.025,3284,2484,2069,2070,2069,0,0,0,0,0,0,26.86,26.81,26.86
$GC,4562,0.78,242.1,3283,2483,2072,2069,194.4,10.8,436,4590,0.00,2.12,22.80,0.967,8484,0.000,0.045,3284,3813,1954,1955,1954,0,0,0,0,0,0,27.13,26.32,25.61
$GC,4774,0.78,242.1,3284,3814,1954,1955,166.1,14.0,478,4781,0.00,1.90,0.00,0.000,1030,0.000,0.026,3284,2500,1953,1952,1954,0,0,0,0,0,0,26.70,26.67,26.71
$GC,5085,0.79,272.7,3284,2498,1952,1955,129.9,10.7,510,5109,0.00,2.08,13.38,0.848,8484,0.000,0.045,3284,3814,1829,1818,1840,0,0,0,0,0,0,27.07,26.48,25.79
$GC,5193,0.79,272.7,3283,3814,1817,1841,116.8,12.2,531,5201,0.00,1.90,0.00,0.000,1030,0.000,0.025,3284,2502,1827,1814,1840,0,0,0,0,0,0,26.71,26.68,26.72
$GC,5498,0.79,272.7,3284,2500,1814,1841,81.1,12.3,562,5505,0.00,2.05,0.00,0.000,260,0.000,0.045,3284,3822,1824,1808,1840,0,0,0,0,0,0,27.08,26.74,27.06
$GC,5713,0.79,272.7,3284,3822,1820,1841,51.9,14.1,605,5723,0.00,1.90,0.00,0.000,1030,0.000,0.025,3284,2499,1826,1812,1840,0,0,0,0,0,0,26.91,26.90,26.94
$GC,6018,0.79,272.7,3284,2498,1812,1841,15.1,12.6,665,6027,0.00,2.00,0.00,0.000,260,0.000,0.044,3284,3821,1825,1811,1840,0,0,0,0,0,0,27.19,26.87,27.19
$STATE,6115,end climb,SURFACE_DEPTH_REACHED
$STATE,6115,begin surface coast
$FINISH,0.3,1.011288
$STATE,6130,end surface coast,CONTROL_FINISHED_OK
$STATE,6130,begin surface
$SM_CCo,6153,65.57,0.129,0,0,1103,450.13
$SM_GC,0.95,7.70,1.90,65.57,0.028,0.025,0.129,183,2539,1103,-8.78,2.60,450.13,0,0,0,0,0,0,26.94,26.96,26.60
$IRIDIUM_FIX,2855.60,-7610.39,170317,161550
$TT8_MAMPS,0.051681,0.242676
$HUMID,33.89
$INTERNAL_PRESSURE,9.66051
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,7901120
$PM_FREEKB,62257600
$24V_AH,24.44,1.221
$10V_AH,10.48,1.229
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.025,47.450,347.200,65.575,0.000,0.000,0.000,0.000,0.000,0.000,15.919,0.000,4351.116,510.909,1399.384,23.977,0.000,1119.474,0.000,987.810,0.000,0.552,0.000
$DEVICE_MAMPS,227.205,1258.425,1127.610,129.285,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6117.000,6130.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.458,11.767,0.000,0.000
$MEM,152620
$DATA_FILE_SIZE,23430,687
$CAP_FILE_SIZE,99089,0
$CFSIZE,1024409600,1019281408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.486,87.75,1
$GPS,170317,180634,2908.073,-7609.828,36,0.9,36,-9.0,0.0,0.0,9,6.9